The content of the invention
One technical problems to be solved by the inivention one
For above-mentioned existing apparatus, if the road in traveling is adjacent with other roads, it is likely that taken the photograph from vehicle-mountedAs head shoot image in extract the road sign being located in adjacent road.At this time, if the road that will be extracted from imageRoad sign will is shown in display device, then driver may be allowed to obtain error message.For example, when the highway and one in travelingAs highway it is adjacent when, if extracting the limitation speed marker that is located on the ordinary highway from the image of vehicle-mounted camera shootingAnd be shown in display device, then the limitation speed specified by the road sign shown is just different from the highway in traveling,This can allow driver to feel strange or have the fidgets.
Precisely in order to solving above-mentioned the problems of the prior art and completing, its purpose is to provide one kind to indicate the present inventionIdentification display device, in the case of the road sign of other roads adjacent with the road in traveling is identified, also canEnough avoid allowing driver to feel strange or have the fidgets.
- to solve the technical solution of technical problem-
In order to achieve the above object, the present invention provides a kind of landmark identification display device, before being present in vehicle for identificationThe road sign of side, and show the relevant information of the road sign.Landmark identification display device is characterized in that, including：ShootingUnit, it is used to shoot vehicle front situation；Landmarks identification unit, it is used to identify includes in the image captured by camera unitRoad sign；Display unit, when landmarks identification unit identifies the road sign for specifying limitation speed, display unit is shownShow the limitation speed specified by the road sign；And speed change intention determination unit, it is used to judge driver whether there is carWhether speed change is intended to, i.e., attempt to make the limitation speed shown by the speed close to display unit of vehicle.It is intended to when speed changesWhen judging unit judges that driver does not have speed change intention, display unit terminates display limitation speed.
In the present invention as constituted above, when what is included in the image captured by camera unit specifies limitation speedWhen road sign is identified, display unit shows the limitation speed specified by the road sign, afterwards, when judging to driveWhen member is intended to without speed change, that is, judge that driver is not attempt to make the limit shown by the speed close to display unit of vehicleDuring speed processed, terminate display limitation speed, therefore, because driver does not have speed change to be intended to, so being shown in display unitWhen the limitation speed shown is considered different from the limitation speed of the road in traveling, it becomes possible to terminate to show the limitation speed, thisSample one, it becomes possible to avoid allowing driver to feel strange or have the fidgets.
In the present invention, it is preferred to if the difference of the limitation speed shown by the speed and display unit of vehicle is more than ruleDefinite value, then speed change intention determination unit judge driver do not have speed change intention.
In the present invention as constituted above, if the difference of the speed of vehicle and the limitation speed shown by display unit is bigIn setting, then speed change intention determination unit judges that driver does not have speed change to be intended to, therefore can accurately sentenceBreak and driver whether there is speed change intention, i.e., whether attempt to make the limitation speed shown by the speed close to display unit of vehicleDegree, so, when the limitation speed shown by display unit is different from the limitation speed of the road in traveling, it becomes possible to canTerminate to show the limitation speed by ground.
In the present invention, it is preferred to speed is limited and after the stipulated time when display unit starts display, if vehicleSpeed and display unit shown by the difference of limitation speed be more than setting, then speed change intention determination unit judges to driveMember is intended to without speed change.
In the present invention as constituted above, speed is limited and after the stipulated time when display unit starts display, such asThe difference of limitation speed shown by the speed and display unit of fruit vehicle is more than setting, then speed change intention determination unit is sentencedDisconnected driver does not have speed change to be intended to, and therefore, if after time enough, speed and the display unit of vehicle are shownThe difference for the limitation speed shown then is intended to, with regard to energy by judging driver whether there is speed change in this case below settingEnough judge that driver has speed change to be intended to, so, it becomes possible to accurately judge driver whether there is speed changeIt is intended to.
In the present invention, it is preferred to if the difference increase of the limitation speed shown by the speed and display unit of vehicle,Speed change intention determination unit judges that driver does not have speed change to be intended to.
In the present invention as constituted above, if the difference of the speed of vehicle and the limitation speed shown by display unit increasesGreatly, then speed change intention determination unit judges that driver does not have speed change to be intended to, therefore can accurately judge to driveWhether the person of sailing, which whether there is speed change, is intended to, i.e., attempt to make the limitation speed shown by the speed close to display unit of vehicle, soOne, when the limitation speed shown by display unit is different from the limitation speed of the road in traveling, it becomes possible to reliably tieBeam shows the limitation speed.
In the present invention, it is preferred to landmark identification display device further includes feed speed control unit, the feed speed control listMember makes vehicle acceleration or deceleration in order to which speed is maintained in target velocity, if shown by target velocity and display unitThe difference of limitation speed is more than setting, then speed change intention determination unit judges that driver does not have speed change to be intended to.
In the present invention as constituted above, if shown by the target velocity of feed speed control unit and display unitThe difference of limitation speed is more than setting, then speed change intention determination unit judges that driver does not have speed change to be intended to, thereforeIt can accurately judge driver whether there is speed change and is intended to, i.e., whether attempt to make the speed of vehicle close to display unit instituteThe limitation speed of display, so, when the limitation speed shown by display unit with traveling in road limitation speed notAt the same time, it becomes possible to reliably terminate to show the limitation speed.
- The effect of invention-
Landmark identification display device according to the present invention, even in identify with travel in adjacent other roads of roadRoad sign in the case of, can also avoid allowing driver from feeling strange or have the fidgets.
Embodiment
With reference to the accompanying drawings, the landmark identification display device of embodiments of the present invention is illustrated.
First, according to Fig. 1, the structure of the landmark identification display device of embodiments of the present invention is illustrated.
Fig. 1 is block diagram, shows the electrical structure of the landmark identification display device of embodiments of the present invention.
In Fig. 1, symbol 1 represents the landmark identification display device of embodiments of the present invention.Landmark identification display device 1Including the camera 2 for shooting vehicle front situation, the speed being detected to vehicle speed pulse obtained from being moved with vehicle sensingThe brake pedal switch 8 of the operation of device 4, the accelerator open degree sensor 6 for detecting accelerator open degree, detection to brake pedal and cruiseFixed speed system 10.The detection signal and cruising constant speed system 10 of view data, each sensor captured by camera 2 are exportedInformation be input into ECU (Electronic Control Unit) 12.Landmark identification display device 1 further includes display device14, display device 14 shows the various information from ECU12 outputs.
Camera 2 is located on vehicle towards the vehicle front for being provided with landmark identification display device 1, and by the figure of shootingAs data are output to ECU12.The camera 2 is cmos image sensor or CCDS imaging sensors for example with photo-sensitive cellCamera.
Cruising constant speed system 10 is in order to which speed is maintained in target velocity, by controlling engine and brake to make carAcceleration or deceleration.Target velocity can for example be set using Operation switch.
Display device 14 is located in the driver's seat of car room front portion.The display device 14 for example with liquid crystal display orHead-up display.
ECU12 includes landmark identification portion 16, speed change intent determining section 18 and display control unit 20.Landmark identification portion 16For the road sign contained in the image captured by identification camera 2, speed change intent determining section 18 is used to judge to driveMember, which whether there is speed change, to be intended to, and display control unit 20 allows the display of display device 14 to limit speed.
Speed changes target speed of the intent determining section 18 according to the speed of vehicle, acceleration and deceleration and/or cruising constant speed system 10Degree, the limitation speed specified by road sign identified always according to flagged identification part 16, to judge driver whether there is speedWhether change is intended to, i.e., attempt to make the limitation speed specified by speed close to the road sign.
The above-mentioned key element that ECU12 possesses with CPU, on the CPU by being explained the various programs performed (including OS etc.Primary control program (PCP), the application program for being started on OS and realizing specific function) and built-in storage computer form.Memory storageDevice is for example useful for ROM, RAM of storage program and various data.
In the following, the processing carried out according to Fig. 2 and Fig. 3, description flags identification display device 1.
Fig. 2 is the flow chart for limiting speed display processing, in speed display processing is limited, embodiments of the present inventionThe display limitation speed of landmark identification display device 1.Fig. 3 is the form for showing Rule of judgment, which is the reality of the present inventionThe landmark identification display device 1 for applying mode judges driver whether there is Rule of judgment when speed change is intended to.
The limitation speed display processing rises after vehicle ignition switch is opened and landmark identification display device 1 powers onIt is dynamic, and be repeatedly executed at predetermined intervals.
As shown in Fig. 2, after limitation speed display processing starts, in step sl, camera 2 shoots vehicle front situation,And the view data photographed is output in ECU12.
Then, in step s 2, the road road sign included in the view data captured by 16 identification camera 2 of landmark identification portionWill.For example, landmark identification portion 16 according to the profile of the subject included in view data, color, whether there is word etc., identification whether there isRoad sign and its content.
Then, in step s3, display control unit 20 judges whether landmark identification portion 16 has identified finger in step s 2The road sign (hereinafter referred to as " limitation speed marker ") of limitation speed is determined.
If going out to limit speed marker as a result, landmark identification portion 16 is unidentified in step s 2, landmark identification is shownShowing device 1 does not allow the display of display device 14 to limit speed, but terminates limitation speed display processing.
If landmark identification portion 16 identifies limitation speed marker in step s 2, S4, display control unit are entered step20 allow limitation speed specified by the limitation speed marker that flagged identification part 16 is identified in 14 step display 2 of display device.
Then, in step s 5, display control unit 20 judge vehicle traveling in road whether with other roads (hereinafter referred to asFor " adjacent road ") it is adjacent.For example, display control unit 20 determines whether phase according to the road information got from navigation systemNeighboring trace road.
As a result, if adjacent road, then S6 is entered step, until judging driver whether there is what speed change was intended toSpeed change intent determining section 18 all keeps standby before moment arrives, and speed change is intended to attempt to make the speed of vehicle to connectLimitation speed (the limitation speed specified by limitation speed marker that i.e. flagged identification part 16 is identified shown in nearly step S4Degree) intention.
As shown in figure 3, if speed changes intent determining section 18 according to the speed of vehicle or the mesh of cruising constant speed system 10Mark speed is intended to judge driver whether there is speed change, then when display device 14 starts display limitation speed and passes through 10 secondsWhen, speed change intent determining section 18 judges：Judge driver is whether there is at the time of speed change is intended to have arrived.If according toThe acceleration and deceleration of vehicle judge driver whether there is speed change and is intended to, then when display device 14 starts display limitation speed and by 2During the second, speed change intent determining section 18 judges：Judge driver is whether there is at the time of speed change is intended to have arrived.
In step s 6, when judging driver is whether there is at the time of speed change is intended to then, S7 is entered step, speed becomesMore intent determining section 18 judges driver whether there is speed change and is intended to, i.e., the speed for whether attempting to make vehicle is shown close in step S4The limitation speed shown.
Specifically, as shown in figure 3, when judging driver whether there is speed change intention according to the speed of vehicle, ifThe difference of limitation speed shown by the speed and display device 14 of vehicle changes intent determining section 18 in below 20km/h, then speedJudge that driver has speed change to be intended to, if the difference of the speed of vehicle and the limitation speed shown by display device 14 is more than20km/h, then speed change intent determining section 18 judge driver do not have speed change intention.
When judging driver whether there is speed change intention according to the acceleration and deceleration of vehicle, if the speed of vehicle is more than displayLimitation speed and vehicle shown by device 14 are being slowed down (such as brake pedal switch 8 detects the operation to brake pedal)Or if vehicle speed be less than display device 14 shown by limitation speed and vehicle accelerating (such as accelerator open degree sensingDevice 6 detects that accelerator pedal is operated), that is to say, that if the speed of vehicle and the limitation speed shown by display device 14Subtractive it is few, then speed change intent determining section 18 judge driver have speed change intention.
If the speed of vehicle is more than the limitation speed shown by display device 14 and vehicle is accelerating or if vehicleSpeed be less than display device 14 shown by limitation speed and vehicle slowing down, that is to say, that if the speed of vehicle withThe difference of limitation speed shown by display device 14 increases, then speed change intent determining section 18 judges that driver does not have speed changeMore it is intended to.
When judging driver whether there is speed change intention according to the target velocity of cruising constant speed system 10, if cruise is fixedThe difference of limitation speed shown by the target velocity and display device 14 of speed system 10 is intended in below 20km/h, then speed changeJudging part 18 judges that driver has speed change to be intended to, if the difference of target velocity and the limitation speed shown by display device 14More than 20km/h, then speed change intent determining section 18 judges that driver does not have speed change intention.
As above-mentioned, speed change intent determining section 18 can be according to the speed of vehicle, acceleration and deceleration, cruising constant speed system 10One of target velocity or their any combination, are intended to judge driver whether there is speed change.
In the step s 7, when judging that driver has speed change to be intended to, that is, judge that driver attempts to make vehicleDuring the limitation speed that speed is shown close in step S4, S8 is entered step, display control unit 20 allows display device 14 to continue to showThe limitation speed specified by limitation speed marker that flagged identification part 16 is identified in step 2.
When judging not having adjacent road after step s8 or in step s 5, S9 is entered step, display device 14 is openedBegin after display limitation speed, display control unit 20 all keeps standby before the time (such as 30 seconds) is shown as defined in process.
Speed is limited when display device 14 starts display and after the defined display time, enters step S10, display controlPortion 20 processed allows display device 14 to stop the limit limiting specified by speed marker that flagged identification part 16 in step display 2 is identifiedSpeed processed.
In the step s 7, when judge driver do not have speed change be intended to, that is, judge that driver is not attempt to make carSpeed shown close in step S4 limitation speed when, it is contemplated that be likely to be landmark identification portion 16 and have identified and be located at phaseRoad sign on neighboring trace road, and the different limitation speed of the limitation speed from the road in traveling is shown to display device 14On, therefore S10 is entered step, display control unit 20 allows display device 14 to stop flagged identification part 16 in step display 2 and identifiesThe limitation speed specified by limitation speed marker gone out.
After step slo, landmark identification display device 1 terminates limitation speed display processing.
In the following, the effect of the landmark identification display device 1 of the embodiment of explanation the invention described above.
First, when identifying the road sign for specifying limitation speed in the view data shot from camera 2, displayControl unit 20 allows display device 14 to show the limitation speed specified by the road sign, afterwards, when judging that driver do not have carWhen speed change is intended to, that is, judge that driver is not attempt to make the limitation speed shown by the speed close to display device 14 of vehicleWhen, display control unit 20 terminates display limitation speed, therefore, because driver does not have speed change to be intended to, so being filled in displayWhen putting the limitation speed shown by 14 is considered different from the limitation speed of the road in traveling, it becomes possible to terminate to show the limitationSpeed, so, it becomes possible to avoid allowing driver to feel strange or have the fidgets.
When the difference of the limitation speed shown by the speed and display device 14 of vehicle is more than setting, speed change is intended toJudging part 18 judges that driver does not have speed change to be intended to, therefore, it is possible to accurately judge driver whether there is speed changeIt is intended to, i.e., whether attempts to make the limitation speed shown by the speed close to display device 14 of vehicle, so, work as display deviceLimitation speed shown by 14 and the limitation speed of the road in traveling is not meanwhile, it is capable to terminate reliably to show limitation speedDegree.
Speed is limited when display device 14 starts display and after the stipulated time, if the speed and display device of vehicleThe difference of limitation speed shown by 14 is more than setting, then speed change intent determining section 18 judges that driver does not have speed changeIt is intended to, therefore, if after time enough, the difference of the limitation speed shown by the speed and display device 14 of vehicle existsBelow setting, then it is intended in this case by judging driver whether there is speed change, it becomes possible to judge that driver has carSpeed change is intended to, so, it becomes possible to accurately judges driver whether there is speed change and is intended to.
When the difference increase of the limitation speed shown by the speed and display device 14 of vehicle, speed change intent determining section18 judge that driver does not have speed change to be intended to, and are intended to therefore, it is possible to accurately judge driver whether there is speed change, i.e.,Whether attempt to make the limitation speed shown by the speed close to display device 14 of vehicle, so, when display device 14 is shownThe limitation speed and the limitation speed of the road in traveling shown is not meanwhile, it is capable to terminate reliably to show the limitation speed.
When the difference of the limitation speed shown by the target velocity and display device 14 of cruising constant speed system 10 is more than settingWhen, speed change intent determining section 18 judges that driver does not have speed change to be intended to, therefore, it is possible to accurately judge to driveWhether member, which whether there is speed change, is intended to, i.e., attempt to make the limitation speed shown by the speed close to display device 14 of vehicle, soOne, when the limitation speed shown by display device 14 with traveling in road limitation speed not meanwhile, it is capable to reliably tieBeam shows the limitation speed.
- symbol description-
1 landmark identification display device
2 cameras
4 vehicle speed sensor
6 accelerator open degree sensors
8 brake pedal switch
10 cruising constant speed system
12 ECU
14 display devices
16 landmark identification portions
18 speeds change intent determining section
20 display control units